Taking advantages of flexibility and efficiency, multi-robot system can be used for machining the complex large-scale aerospace structures. However, there are problems such as imbalanced task allocation and difficult to eliminate interference between robots. To solve the above problems, a multi-robot cooperative assembly task planning algorithm for large-scale aerospace structures is proposed in this paper. The first step is to adapt a rotating planning strategy for large-scale aerospace structures to reduce the number of processing station and shorten the processing time of multi-robot system. The second step is to develop a task auction algorithm based on market method to balance the workload between each robot and improve the work efficiency of multi-robot system. Finally, simulations are shown to illustrate the efficiency of the proposed algorithm.


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    Title :

    Multi-robot Cooperative Assembly Task Planning for Large-scale Aerospace Structures


    Contributors:
    Lin, Jiamei (author) / Li, Pengcheng (author) / Dai, Jialong (author) / Liu, Shaorui (author) / Tian, Wei (author) / Li, Bo (author) / Wang, Changrui (author)


    Publication date :

    2022-11-19


    Size :

    1279445 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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